0

Full Content is available to subscribers

Subscribe/Learn More  >

Dimensional Synthesis and Constrained Motion Interpolation for Planar and Spherical 6R Closed Chains

[+] Author Affiliations
Anurag Purwar, Zhe Jin, Qiaode Jeffrey Ge

State University of New York - Stony Brook, Stony Brook, NY

Paper No. DETC2008-49947, pp. 707-715; 9 pages
doi:10.1115/DETC2008-49947
From:
  • ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B
  • Brooklyn, New York, USA, August 3–6, 2008
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4326-0 | eISBN: 0-7918-3831-5
  • Copyright © 2008 by ASME

abstract

In the recent past, we have studied the problem of synthesizing rational interpolating motions under the kinematic constraints of any given planar and spherical 6R closed chain. This work presents some preliminary results on our initial attempt to solve the inverse problem, that is to determine the link lengths of planar and spherical 6R closed chains that follow a given smooth piecewise rational motion under the kinematic constraints. The kinematic constraints under consideration are workspace related constraints that limit the position of the links of planar and spherical closed chains in the Cartesian space. By using kinematic mapping and a quaternions based approach to represent displacements of the coupler of the closed chains, the given smooth piecewise rational motion is mapped to a smooth piecewise rational curve in the space of quaternions. In this space, the aforementioned workspace constraints on the coupler of the closed chains define a constraint manifold representing all the positions available to the coupler. Thus the problem of dimensional synthesis may be solved by modifying the size, shape and location of the constraint manifolds such that the mapped rational curve is contained entirely inside the constraint manifolds. In this paper, two simple examples with preselected moving pivots on the coupler as well as fixed pivots are presented to illustrate the feasibility of this approach.

Copyright © 2008 by ASME
Topics: Motion , Chain , Interpolation

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In